公开(公告)号：US20220136833A1

公开(公告)日：2022-05-05

申请号：US17236254

申请日：2021-04-21

Applicant: Harbin Institute of Technology

Inventor： Guochen Wang ,  Ya Zhang ,  Zicheng Wang ,  Hongze Gao ,  Yanyan Wang ,  Chao Liu ,  Jianbo Shao ,  Jingchun Li

IPC: G01C21/16

Abstract: The present disclosure discloses a latitude-free construction method for a gravity acceleration vector under a swaying base earth system. Firstly, a target function based on output information of an accelerator in a fixed-length sliding window under a swaying base is constructed; secondly, measurement information in a period of time window is used to construct the target function, and gradient descent optimization is used to obtain a rough value of qiib0; and finally, the rough value of qiib0 and an apparent motion of a gravity acceleration vector of an inertial system are used to construct the gravity acceleration vector under the earth coordinate system. The present disclosure makes a key breakthrough for solving the problem of high precision alignment of a ship with unknown latitude under a swaying base.